Orthodontic forceps head, orthodontic instrument robot and forming method

Abstract

The application provides an orthodontic forceps head, an orthodontic instrument robot and a forming method. The orthodontic forceps head comprises: a rigid body core, which adopts a variable cross-section design; a soft body sleeve with adjustable rigidity, which is provided with an internal cavity consistent with the shape of the rigid body core; and the soft body sleeve is nested on the outside of the rigid body core through interference fit. The scheme can realize the clamping, bending, shearing, pushing and extruding actions of a clinical orthodontist to complete the bending forming of different functional curves.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and specifically relates to an orthodontic forceps head, an orthodontic instrument robot, and a molding method thereof. Background Technology

[0002] Orthodontic tooth movement is driven by the orthodontic force applied to the teeth by the orthodontic appliance. The design, fabrication, and loading of the appliance directly affect the orthodontic force applied during treatment, thus influencing the treatment process and outcome. Archwire appliances are commonly used instruments in the clinical treatment of malocclusion. Clinical orthodontists use various orthodontic forceps for clamping, bending, and cutting, combined with pushing and squeezing movements of their fingers, to shape different functional curves. In the process of "machine replacing human," a dexterous end effector is key to completing the above-mentioned coordinated hand-eye movements. Personalized archwire appliances for orthodontic treatment require high clinical precision, and the multifunctional curve-forming process is complex. Manual bending of archwire appliances is inefficient and inaccurate, and requires a high level of technician experience. Therefore, there is an urgent clinical need for a fast, precise, and automated appliance fabrication system. Current technological solutions can achieve bending and shaping operations similar to those performed by orthodontists through dual manipulators configured with end effectors resembling orthodontic forceps heads.

[0003] Existing robotic end effectors are designed to be replaceable via mechanisms. These replaceable forceps heads are typically designed in different shapes according to the bending process requirements of various clinical functions, such as: filament-bent forceps heads, filament beak forceps heads, tweed-bent trapezoidal forceps heads, Kim forceps heads, torque-formed forceps heads, etc. As a type of robotic end effector, almost all known orthodontic forceps heads are made of rigid metal materials.

[0004] However, existing technologies using two clamping and bending heads inevitably encounter interference when forming complex functional curves, especially when the archwire bending angle approaches 180 degrees. Furthermore, the presence of a minimum bending radius during bending and rotation limits the clamping head's ability to form delicate functional curves. Comparing this to the actions of clinical orthodontists, it's clear that pushing and squeezing movements of the fingers are crucial in forming complex functional curves. When one clamping head holds the archwire, the fingers can push and squeeze from the outside, rather than bending from the inside, significantly improving operational flexibility. With existing rigid clamping heads, this "collision" (in robotics, this generally describes the contact between two rigid bodies) needs to be avoided; therefore, it's difficult to implement such movements in existing structures. Summary of the Invention

[0005] The purpose of the embodiments in this specification is to provide an orthodontic forceps head, an orthodontic instrument robot, and a molding method thereon.

[0006] To solve the above-mentioned technical problems, the embodiments of this application are implemented in the following ways:

[0007] In a first aspect, this application provides an orthodontic forceps head, the orthodontic forceps head comprising:

[0008] Rigid core, the rigid core adopts a variable cross-section design;

[0009] The flexible sleeve with adjustable stiffness has an internal cavity that is identical in shape to the rigid core. The flexible sleeve is nested outside the rigid core with an interference fit.

[0010] In one embodiment, the rigid core is made of steel or a high-strength material.

[0011] In one embodiment, the rigid core is made by material fabrication and processing or by 3D printing.

[0012] In one embodiment, the soft sleeve is made by 3D printing or molten wax casting.

[0013] In one embodiment, the soft sleeve is designed with a closed cavity inside;

[0014] Orthodontic clamps also include a tube; air pressure is introduced into the enclosed cavity through the tube, and the enclosed cavity deforms under external drive to change the stiffness of the soft sleeve in whole or in part.

[0015] In one embodiment, the enclosed cavity is filled with particles.

[0016] In one embodiment, the particles are elastic spheres or rigid spheres.

[0017] Secondly, this application provides an orthodontic appliance robot, the robot comprising:

[0018] For example, the orthodontic pliers in the first aspect;

[0019] clamp body;

[0020] Connector, which connects the orthodontic pliers head to the pliers body.

[0021] In one embodiment, the orthodontic pliers head and the connector are set at an angle, the angle being determined based on the arrangement of the orthodontic pliers head and the variable cross-section of the rigid core of the orthodontic pliers head.

[0022] Thirdly, this application provides a molding method for an orthodontic instrument robot using the second aspect. After one end of the orthodontic appliance is stably clamped by a conventional pliers, the orthodontic pliers of the orthodontic instrument robot clamp the other end of the orthodontic appliance. By controlling the clamping force, contact cross section and the stiffness of the soft sleeve of the orthodontic pliers, the squeezing and sliding are completed to obtain a continuous arc segment functional curve.

[0023] As can be seen from the technical solutions provided in the embodiments of this specification above, this solution can enable clinical orthodontists to perform actions such as clamping, bending, cutting, pushing, and squeezing to complete the bending and shaping of different functional curves. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the orthodontic forceps head provided in this application;

[0026] Figure 2 This is a structural schematic diagram of the orthodontic device robot provided in this application;

[0027] Figure 3 A structural schematic diagram of the rigid core and connecting parts provided in this application;

[0028] Figure 4 A schematic diagram illustrating the bending and forming operation of the archwire orthodontic appliance using the "clamping-pushing" combined action provided in this application;

[0029] Figure 5 A schematic diagram illustrating the bending and forming operation of the archwire orthodontic appliance using the "clamping-squeezing" combined action provided in this application;

[0030] Figure label:

[0031] 10. Orthodontic pliers head; 11. Rigid core; 12. Soft sleeve; 13. Tube; 20. Pliers body; 30. Connector; 40. Pin; 50. Archwire orthodontic appliance; 60. Rigid pliers head. Detailed Implementation

[0032] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0033] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0034] Various modifications and variations can be made to the specific embodiments described in this application without departing from the scope or spirit of this application, as will be apparent to those skilled in the art. Other embodiments derived from this application will be obvious to those skilled in the art. This application specification and embodiments are merely exemplary.

[0035] The terms “include,” “including,” “have,” “contain,” etc., used in this article are all open-ended terms, meaning that they include but are not limited to.

[0036] Unless otherwise specified, "parts" in this application refers to parts by weight.

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0038] Reference Figure 1 It shows a schematic diagram of the structure of the orthodontic forceps head applicable to the embodiments of this application.

[0039] like Figure 1 As shown, an orthodontic clamp head may include:

[0040] Rigid core 11, which adopts a variable cross-section design;

[0041] The flexible sleeve 12 with adjustable stiffness has an internal cavity that is consistent with the shape of the rigid core. The flexible sleeve 12 is nested outside the rigid core 11 by interference fit.

[0042] Specifically, the rigid core 11 adopts a variable cross-section design, allowing for the contact with arcs of varying curvatures at different cross-section locations. Understandably, the variable cross-section rigid core 11 can use a trapezoidal cross-section, or it can be customized into other cross-section forms according to the bending forming process; no restrictions are placed here.

[0043] It is understandable that when using orthodontic clamps, the rigid core 11 can be connected to the robot end effector via a connector. It is also understandable that the rigid core 11 and the connector can be designed as an integral unit or as separate units.

[0044] In one embodiment, the rigid core 11 can be made of materials such as steel or high-strength plastic. The rigid core 11 can be manufactured and processed from the aforementioned materials such as steel or high-strength plastic, or 3D printed.

[0045] The soft sleeve 12 is interference-fitted with the rigid core 11 through the opened internal cavity, so that the soft sleeve 12 is nested on the outside of the rigid core 11. Understandably, the shape of the soft sleeve 12 also adopts a variable cross section design. The soft sleeve 12 and the rigid core 11 form a complete "finger" shape.

[0046] In one embodiment, the soft sleeve 12 is mainly made of soft materials such as silicone rubber and is manufactured by 3D printing or wax casting, which is low in cost.

[0047] In one embodiment, the soft sleeve 12 is designed with a closed cavity inside;

[0048] The orthodontic clamp also includes a tube 13; air pressure is input into the closed cavity through the tube 13, and the closed cavity deforms under external drive to change the overall or partial stiffness of the soft sleeve 12.

[0049] Understandably, the air pressure input into the enclosed cavity through pipe 13 can be hydraulic, pneumatic, or other driving methods. It is also understandable that the input air pressure can be positive or negative, causing the enclosed cavity to deform under external driving to change the overall or partial stiffness of the flexible sleeve 12.

[0050] The soft sleeve 12 achieves different surface stiffnesses through hydraulic or pneumatic drive to complete different contact compression states with the bowwire.

[0051] To increase the range of variable stiffness of the flexible sleeve 12, micro-particles can be added into the closed cavity of the flexible sleeve 12. Depending on the variable stiffness parameter requirements, these particles can be selected as elastic spheres or rigid spheres. In practical use, when no particles are filled, and the input air pressure P is positive, the closed cavity expands to compress each other, thus increasing the overall stiffness. When particles are filled, and the input air pressure P is negative, the particles are compressed to reduce the gaps between them, further increasing the overall stiffness.

[0052] Understandably, the structure of the aforementioned soft sleeve 12 can be replaced by other structures with variable stiffness, as long as the characteristic of adjustable contact stiffness can be met.

[0053] It is also understandable that the orthodontic pliers provided in this application embodiment may include, in addition to the above-mentioned components, some necessary mounting and fastening structures and corresponding drive control units for the pipeline.

[0054] It's understandable that the rigid core and soft sleeve mentioned above can be quickly replaced.

[0055] It is also understood that the orthodontic forceps provided in this application embodiment can be used as orthodontic forceps for manual operation by clinicians, and can also be used for shaping similar objects other than orthodontic archwires, etc., without limitation.

[0056] Reference Figure 2 It shows a structural schematic diagram of the orthodontic device robot applicable to the embodiments of this application.

[0057] like Figure 2 As shown, an orthodontic appliance robot may include:

[0058] Orthodontic forceps 10 as provided in the above embodiment;

[0059] 20 clamps;

[0060] Connector 30 connects the orthodontic pliers head 10 and the pliers body 20.

[0061] Specifically, the clamp body 20 has a first mounting hole; the connector 30 has a second mounting hole; the orthodontic clamp head 10 and the clamp body 20 are fastened by means of the interference fit between the pin 40 and the first mounting hole and the second mounting hole respectively.

[0062] Understandably, equipping the orthodontic pliers 10 with a single orthodontic pliers head 10 on the pliers body 20 enables the orthodontic instrument robot to have pushing and squeezing functions, similar to fingers. Equipping the orthodontic pliers head 10 in pairs on the pliers body 20 enables the orthodontic instrument robot to have gripping functions, similar to grippers. Figure 2 The image shows a pair of orthodontic forceps 10.

[0063] like Figure 2 As shown, the end effector's main body is connected to the end of the robotic arm and can open and close a pair of clamps 20. The designed variable cross-section adjustable stiffness orthodontic clamp head 10 is inserted into the hole of the clamp body 20 through the connector 30, and is secured by the interference fit of the pins 40 with the first and second mounting holes on the clamp body 20 and the connector 30, respectively. To accommodate the variable cross-section design for paired use, i.e., to ensure that the outer soft sleeve 12 of a pair of orthodontic clamp heads 10 is clamped, the orthodontic clamp head 10 and the connector 30 are set at an angle. The angle is determined by the arrangement of the orthodontic clamp head 10 and the variable cross-section of the rigid core of the orthodontic clamp head 10. That is, the inner rigid core 11 is designed to have a certain angle with the connector 30, such as... Figure 3 As shown.

[0064] In the aforementioned real-time scheme, the new archwire orthodontic device forming method supports actions that, in addition to clamping and bending, include bending forming by pushing and forming continuous functional segments by squeezing.

[0065] like Figure 4As shown, when one end of the archwire caliper 50 is stably clamped by the conventional rigid pliers 60, the end effector of the orthodontic pliers 10 provided in the above embodiments of this application can complete a small-radius functional bending action by pushing from the outside.

[0066] A molding method for an orthodontic instrument robot as provided in the above embodiments, such as Figure 5 As shown, after one end of the archwire appliance 50 is stably clamped by the conventional rigid clamp head 60, the orthodontic clamp head 10 of the orthodontic instrument robot clamps the other end of the archwire appliance 50. By controlling the clamping force, contact cross-section, and the stiffness of the soft sleeve 12 of the orthodontic clamp head 10, a squeezing and sliding motion is achieved, resulting in a continuous arc-shaped functional curve. It can be understood that different arcs can be obtained by controlling the contact with different cross-sections of the soft sleeve 12.

[0067] The forming methods provided in this application include methods for forming bending functional curves by means of pushing action and methods for forming continuous functional curves by means of extrusion action, as well as robot forming operation methods for forming combined functional curves in conjunction with existing rigid body clamping, bending and other actions.

[0068] The molding method provided in this application embodiment can enable clinical orthodontists to perform actions such as clamping, bending, cutting, pushing, and squeezing.

[0069] The forming method provided in this application embodiment can realize the action of applying a push to the archwire from the outside, which will greatly reduce the minimum bending radius of the bending forming, so as to realize the bending of fine functional curves.

[0070] The molding method provided in this application embodiment can achieve extrusion with different stiffnesses at different contact sections (i.e., radii of curvature), and can precisely control the contact state to obtain continuous circular arc functional curves with different curvatures.

[0071] The forming method provided in this application embodiment, with the help of existing structures, can achieve safe and stable contact between the end effector and the bowwire object during the bending process.

[0072] The molding method provided in this application improves the dexterity of robotic arm manufacturing and enables the bending of orthodontic functional curves with more complex structures and mechanical properties.

[0073] The molding method provided in this application embodiment, in addition to commonly used actions such as pushing and squeezing, can also achieve more complex actions according to operation planning and dual-arm coordinated control.

[0074] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

Claims

1. An orthodontic forceps head, characterized in that, The orthodontic forceps head includes: Rigid core (11), wherein the rigid core (11) adopts a variable cross-section design; A flexible sleeve (12) with adjustable stiffness has a closed cavity inside, and the closed cavity is consistent with the shape of the rigid core. The flexible sleeve (12) is nested outside the rigid core (11) by interference fit. The orthodontic clamp also includes a conduit (13); gas is introduced into the closed cavity through the conduit (13), and the closed cavity deforms under external drive to change the stiffness of the soft sleeve (12).

2. The orthodontic forceps head according to claim 1, characterized in that, The rigid core (11) is made of steel.

3. The orthodontic forceps head according to claim 1, characterized in that, The rigid core (11) is manufactured by 3D printing.

4. The orthodontic forceps head according to claim 1, characterized in that, The soft sleeve (12) is made by 3D printing or investment casting.

5. The orthodontic forceps head according to claim 1, characterized in that, The enclosed cavity is filled with particles.

6. The orthodontic forceps head according to claim 5, characterized in that, The particles are elastic spheres or rigid spheres.

7. An orthodontic instrument robot, characterized in that, The robot includes: The orthodontic forceps (10) as described in any one of claims 1-6; clamp body (20); Connector (30) connects the orthodontic forceps head (10) to the forceps body (20).

8. The robot according to claim 7, characterized in that, The orthodontic pliers (10) and the connector (30) are set at an angle, the angle being determined based on the arrangement of the orthodontic pliers (10) and the variable cross-section of the rigid core of the orthodontic pliers (10).

9. A method for molding an orthodontic instrument robot as described in claim 7 or 8, characterized in that, After one end of the orthodontic appliance is stably clamped by a conventional clamp, the orthodontic clamp of the orthodontic instrument robot clamps the other end of the appliance, and by controlling the clamping force, contact cross section and the stiffness of the soft sleeve of the orthodontic clamp, it completes the squeezing and sliding to obtain a continuous arc segment of functional curve.

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